version: 66.03
glider: 143
mission: 4
dive: 181
start: 5 10 108 17 8 16
data:
$ID,143
$MISSION,4
$DIVE,181
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,350
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,360
$T_ABORT,720
$T_TURN,270
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,51457
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,40
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-8677.1348
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,1469
$PITCH_MAX,4022
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,100
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2
$ROLL_MIN,182
$ROLL_MAX,3816
$ROLL_DEG,40
$C_ROLL_DIVE,2295
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,490
$VBD_MAX,3964
$C_VBD,3071
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PRESSURE_YINT,-13.47135
$PRESSURE_SLOPE,9.1530041e-05
$AD7714Ch0Gain,64
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043273759
$SEABIRD_T_H,0.00064184016
$SEABIRD_T_I,2.4188148e-05
$SEABIRD_T_J,2.4070987e-06
$SEABIRD_C_G,-10.197048
$SEABIRD_C_H,1.1695373
$SEABIRD_C_I,-0.0015330453
$SEABIRD_C_J,0.00015523176
$GPS1,165808,6122.846,-2637.021,27,1.7,27,-18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-50.1
$GPS2,170757,6122.939,-2636.993,12,1.6,12,-18.7
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6131.212,-2633.683
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,58.7,20000,-15.7,-10.000
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.82,-194.7,0.0,0.0,0,137,0.00,0.00,-107.43,0.000,2,0.000,0.000,1469,2300,3530
$GC,139,-0.82,-194.7,3.5,-5.7,15,163,9.90,2.92,-7.62,0.000,4,0.249,0.076,2612,3714,3866
$GC,270,-0.74,-194.7,29.4,-15.9,38,279,0.10,2.80,0.00,0.000,6,0.133,0.041,2630,2291,3867
$GC,406,-0.67,-194.7,50.0,-14.7,63,412,0.12,0.00,0.00,0.000,6,0.145,0.000,2647,2289,3867
$GC,738,-0.67,-194.7,94.4,-13.9,124,746,0.00,2.80,0.00,0.000,4,0.000,0.056,2647,884,3867
$GC,806,-0.67,-194.7,103.4,-12.1,136,813,0.00,2.78,0.00,0.000,6,0.000,0.046,2648,2294,3867
$GC,1140,-0.67,-194.7,145.8,-13.1,197,1146,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2294,3867
$GC,1475,-0.67,-194.7,189.9,-12.2,258,1482,0.00,2.78,0.00,0.000,4,0.000,0.055,2648,886,3867
$GC,1541,-0.67,-194.7,197.6,-12.0,269,1547,0.00,2.72,0.00,0.000,6,0.000,0.045,2652,2289,3867
$GC,1879,-0.67,-194.7,240.9,-12.7,330,1885,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2289,3867
$GC,2219,-0.67,-194.7,284.3,-12.8,391,2225,0.00,2.78,0.00,0.000,4,0.000,0.055,2648,887,3867
$GC,2263,-0.67,-194.7,289.9,-12.1,399,2270,0.12,2.72,0.00,0.000,6,0.062,0.044,2637,2293,3867
$GC,2602,-0.60,-194.7,338.5,-14.7,460,2610,0.15,0.00,0.00,0.000,6,0.133,0.000,2660,2294,3867
$GC,2933,-0.60,-194.7,377.7,-11.5,499,2934,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2294,3867
$GC,3254,-0.60,-194.7,414.5,-11.7,529,3258,0.00,2.80,0.00,0.000,4,0.000,0.056,2646,877,3867
$GC,3308,-0.60,-194.7,421.1,-11.1,533,3315,0.00,2.70,0.00,0.000,6,0.000,0.044,2649,2278,3867
$GC,3634,-0.60,-194.7,461.9,-13.5,564,3635,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2278,3867
$GC,3951,-0.60,-194.7,504.3,-13.1,594,3956,0.00,2.78,0.00,0.000,4,0.000,0.056,2646,877,3867
$GC,3990,-0.60,-194.7,509.3,-12.4,597,3994,0.00,2.70,0.00,0.000,6,0.000,0.044,2648,2276,3867
$GC,4315,-0.60,-194.7,550.4,-12.1,627,4316,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2276,3867
$GC,4636,-0.60,-194.7,588.4,-12.1,657,4641,0.00,2.78,0.00,0.000,4,0.000,0.058,2646,885,3867
$GC,4670,-0.60,-194.7,592.9,-11.8,659,4676,0.00,2.67,0.00,0.000,6,0.000,0.044,2650,2271,3867
$GC,4987,-0.60,-194.7,632.1,-12.7,678,4988,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2271,3867
$GC,5296,-0.60,-194.7,673.3,-13.3,693,5300,0.00,2.83,0.00,0.000,4,0.000,0.067,2646,881,3867
$GC,5334,-0.60,-194.7,678.3,-12.9,695,5339,0.12,2.67,0.00,0.000,6,0.133,0.048,2665,2253,3867
$GC,5661,-0.64,-194.7,714.3,-10.3,711,5666,0.00,2.97,0.00,0.000,4,0.000,0.067,2664,3709,3867
$GC,5704,-0.72,-194.7,718.9,-10.1,713,5709,0.00,2.88,0.00,0.000,6,0.000,0.052,2664,2266,3867
$GC,6026,-0.77,-194.7,748.9,-8.9,729,6028,0.17,0.00,0.00,0.000,6,0.061,0.000,2628,2265,3866
$GC,6334,-0.77,-194.7,785.9,-11.8,744,6339,0.00,2.80,0.00,0.000,4,0.000,0.070,2628,884,3866
$GC,6383,-0.77,-194.7,791.8,-11.8,746,6387,0.00,2.72,0.00,0.000,6,0.000,0.049,2628,2272,3866
$GC,6704,-0.77,-194.7,831.5,-12.8,762,6705,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2274,3866
$GC,7014,-0.77,-194.7,872.7,-13.7,777,7015,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2275,3866
$GC,7322,-0.77,-194.7,913.3,-12.6,792,7324,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2276,3865
$GC,7632,-0.77,-194.7,950.6,-12.1,807,7633,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2276,3865
$GC,7941,-0.77,-194.7,988.8,-12.6,822,7946,0.00,2.85,0.00,0.000,4,0.000,0.070,2628,884,3865
$STATE,7949,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7949,begin apogee
$GC,7956,-0.19,0.0,990.0,12.3,822,8162,0.73,0.00,200.52,1.439,6,0.123,0.000,2751,2056,3071
$STATE,8163,end apogee,CONTROL_FINISHED_OK
$STATE,8163,begin climb
$GC,8165,0.82,194.7,998.7,0.0,833,8383,1.27,3.28,206.98,1.367,4,0.087,0.071,2970,642,2276
$GC,8461,0.69,194.7,973.0,13.6,847,8465,0.00,2.97,0.00,0.000,6,0.000,0.047,2970,2055,2273
$GC,8782,0.56,194.7,930.0,13.1,863,8787,0.25,2.92,0.00,0.000,4,0.139,0.063,2930,3465,2271
$GC,8831,0.56,194.7,924.2,11.1,865,8835,0.00,2.85,0.00,0.000,6,0.000,0.053,2930,2063,2271
$GC,9153,0.53,212.8,893.4,9.4,881,9177,0.00,3.00,18.45,1.401,4,0.000,0.071,2930,639,2203
$GC,9278,0.56,235.1,881.5,9.2,886,9308,0.00,2.88,23.70,1.308,6,0.000,0.048,2931,2087,2113
$GC,9636,0.57,242.8,847.9,9.7,904,9651,0.00,3.03,9.32,1.259,4,0.000,0.071,2930,640,2081
$GC,9723,0.58,255.5,839.3,9.6,907,9743,0.00,2.92,14.52,1.268,6,0.000,0.048,2931,2117,2029
$GC,10064,0.61,277.5,808.9,9.2,924,10094,0.00,2.80,23.35,1.318,4,0.000,0.061,2930,3456,1939
$GC,10139,0.61,277.5,801.6,10.0,927,10143,0.00,2.70,0.00,0.000,6,0.000,0.051,2935,2120,1936
$GC,10455,0.61,280.5,770.7,9.9,942,10464,0.00,2.75,4.47,0.930,4,0.000,0.060,2930,3464,1927
$GC,10480,0.63,291.9,768.1,9.6,943,10500,0.00,2.67,14.10,1.320,6,0.000,0.050,2930,2126,1879
$GC,10822,0.66,317.0,737.0,9.1,960,10850,0.00,0.00,26.17,1.298,6,0.000,0.000,2930,2125,1777
$GC,11151,0.73,371.3,708.3,8.1,976,11213,0.15,2.88,55.90,1.254,4,0.071,0.058,2958,3466,1556
$GC,11230,0.60,371.3,699.6,11.9,979,11236,0.17,2.75,0.00,0.000,6,0.121,0.049,2934,2125,1554
$GC,11544,0.60,371.3,668.8,10.3,995,11549,0.00,3.05,0.00,0.000,4,0.000,0.068,2933,632,1550
$GC,11565,0.65,371.3,666.5,10.6,996,11570,0.00,2.95,0.00,0.000,6,0.000,0.044,2933,2138,1549
$GC,11886,0.65,371.3,632.9,10.2,1012,11887,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2139,1548
$GC,12195,0.67,389.0,603.1,9.4,1027,12215,0.00,0.00,18.10,1.231,6,0.000,0.000,2933,2139,1485
$GC,12537,0.72,393.7,569.9,9.8,1057,12549,0.12,2.70,6.35,1.020,4,0.070,0.054,2957,3465,1465
$GC,12554,0.65,393.7,567.4,11.0,1058,12561,0.00,2.65,0.00,0.000,6,0.000,0.045,2958,2121,1465
$GC,12882,0.65,393.7,520.4,15.0,1089,12887,0.00,3.00,0.00,0.000,4,0.000,0.065,2958,631,1464
$GC,12925,0.65,393.7,513.4,14.0,1092,12932,0.00,2.90,0.00,0.000,6,0.000,0.044,2958,2129,1463
$GC,13251,0.65,393.7,466.9,13.8,1123,13252,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2130,1464
$GC,13571,0.65,393.7,423.7,13.7,1153,13572,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2130,1463
$GC,13889,0.65,393.7,379.5,13.8,1183,13893,0.00,3.00,0.00,0.000,4,0.000,0.063,2958,638,1463
$GC,13919,0.65,393.7,375.6,14.4,1185,13923,0.00,2.85,0.00,0.000,6,0.000,0.041,2958,2124,1463
$GC,14248,0.65,393.7,331.8,12.7,1227,14255,0.00,2.62,0.00,0.000,4,0.000,0.054,2958,3465,1463
$GC,14273,0.65,393.7,328.9,13.2,1231,14279,0.00,2.65,0.00,0.000,6,0.000,0.045,2959,2105,1462
$GC,14613,0.65,393.7,285.0,12.8,1292,14621,0.00,2.95,0.00,0.000,4,0.000,0.063,2958,637,1463
$GC,14638,0.65,393.7,281.7,13.0,1296,14646,0.00,2.88,0.00,0.000,6,0.000,0.041,2958,2125,1462
$GC,14982,0.65,393.7,237.7,12.6,1357,14988,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2125,1462
$GC,15322,0.65,393.7,194.7,11.6,1418,15328,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2125,1462
$GC,15660,0.65,393.7,154.0,12.5,1479,15667,0.00,2.97,0.00,0.000,4,0.000,0.064,2958,640,1462
$GC,15685,0.65,393.7,151.1,12.6,1483,15691,0.00,2.83,0.00,0.000,6,0.000,0.041,2958,2118,1462
$GC,16015,0.65,393.7,109.8,13.4,1544,16022,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2118,1462
$GC,16348,0.65,393.7,67.8,11.7,1605,16354,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2118,1462
$GC,16673,0.65,393.7,27.6,12.3,1666,16681,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2118,1462
$GC,16807,0.65,393.7,11.4,11.5,1691,16814,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2118,1462
$STATE,16888,end climb,SURFACE_DEPTH_REACHED
$STATE,16888,begin surface coast
$FINISH,0.3,1.027324
$STATE,16900,end surface coast,CONTROL_FINISHED_OK
$STATE,16900,begin surface
$SM_CCo,16976,0.00,0.000,0,0,1461,394.93
$SM_GC,0.94,7.30,0.00,0.00,0.048,0.000,0.000,1468,2312,1461,-6.08,0.48,394.93
$IRIDIUM_FIX,6059.36,-2633.90,040897,171747
$TT8_MAMPS,0.021476
$HUMID,1705
$INTERNAL_PRESSURE,8.14484
$TCM_TEMP,11.80
$XPDR_PINGS,109
$24V_AH,19.2,60.975
$10V_AH,9.8,43.585
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,20.700,141.525,621.950,0.000,0.000,58.265,65.361,281.935,27.250,0.000,0.000,14.259,2723.252,9548.420,728.537,3880.259,668.875,0.000,2198.521,0.000,3872.587,0.000,0.466
$DEVICE_MAMPS,249.275,75.933,1438.892,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1273.401,1194.995,634.374,852.078,1579.461,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126462,1708
$CAP_FILE_SIZE,158058,0
$CFSIZE,260165632,239292416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100508,215226,6126.316,-2633.997,39,1.4,39,-18.7